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      1. 專注電子技術學習與研究
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        基于ATMega328P單片機的飛控源代碼

        作者:我行天下   來源:本站原創   點擊數:  更新時間:2014年03月31日   【字體:

        MWC是MultiWii Copter的縮寫,是通用的開源固件。此固件的原創作者是法國Alex,他在2010年為了打造自己的Y3飛行器而開發了MWC固件,MWC固件是用Arduino IDE來編寫。幾年來經過眾多高手的參與及共同努力,現在MWC已經相當成熟,可以支持廣泛的外圍設備及飛行模式。
        四旋翼視頻:
        http://v.youku.com/v_show/id_XNTMxNzk1NjA0.html
        http://v.youku.com/v_show/id_XMjkyNjc5NTI0.html

          傾情巨獻,配置參數

        /*************************************************************************************************/
        
        /****           參數配置                                                       ****/
        
        /*************************************************************************************************/
        
        /* 此配置文件包含幾個部分,每部分您只能設置一個參數.
        
         * 1 - 基本設置 - you must select an option in every block.
        
         *      this assumes you have 4 channels connected to your board with standard ESCs and servos.
        
         * 2 - 飛機設置 - you likely want to check for options for your copter type
        
         * 3 - 信號接收設置 - 注: 如果您使用的是標準接收機,請不要設置此部分
        
         * 4 - 設置擴展CPU與板
        
         * 5 - 擴展設置 - select alternate RX (SBUS, PPM, etc.), alternate ESC-range, etc. here
        
         * 6 - 可選設置 - enable nice to have features here (FlightModes, LCD, telemetry, battery monitor etc.)
        
         * 7 - 開發者高級設定 - 警告:請謹慎的更改此部分的設置,否則飛行器將引發不可預知的災難。!
        
         */
        
        /* 備注:
        
         * 1. 參數標記 (*) 的可通過LCD液晶屏顯示設置,點擊寫入E2PROM中,可保存所設置的參數。
        
         *    改變 config.h 后,請重新編譯寫入飛控中,并點擊'Reset' 重啟飛控使配置生效。
        
         */
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  1 - 基本設置                                                *******/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /**************************    MWC飛控支持的飛行模式    ****************************/
        
            //#define GIMBAL //獨立云臺增穩
        
            //#define BI //2軸阿凡達飛行器
        
            //#define TRI //Y型3軸
        
            //#define QUADP //四軸十模式
        
            #define QUADX //----------四軸X模式
        
            //#define Y4 //Y型4軸
        
            //#define Y6 //Y型6軸
        
            //#define HEX6 //6軸十模式
        
            //#define HEX6X //6軸X模式
        
            //#define HEX6H   // 新模式:6軸H模式
        
            //#define OCTOX8 //8軸×4模式
        
            //#define OCTOFLATP //8軸水平十模式
        
            //#define OCTOFLATX //8軸水平X模式
        
            //#define FLYING_WING //飛翼
        
            //#define VTAIL4 //V型尾翼4軸(飛行方式同×模式,特點是轉向更靈活,主要當作固定翼來飛行)
        
            //#define AIRPLANE //固定翼
        
            //#define SINGLECOPTER //VTOL單軸
        
            //#define DUALCOPTER
        
            //#define HELI_120_CCPM
        
            //#define HELI_90_DEG
        
          /****************************    設置油門行程最低值(怠速)    *******************************/
        
          /*標準電調通過1000~2000us范圍內的信號進行控制,如果您需要飛控解鎖后電機就開始慢速旋轉,
        
          請設定一個合適的怠速信號值(默認是1100,大多數電調會開始輸出電流)請注意此值不要太小,
        
          否則會影響飛行器回中的效果,如果您喜歡解鎖后電機停轉,請啟用“MOTOR_STOP“代碼(請參見下文)。
        
          上傳程序后如果發現不符合需求,可以再次修改后上傳。*/
        
            /* 設置油門通道發送給電調怠速的最低值(電子調速器,簡稱:電調)*/
        
            //#define MINTHROTTLE 1300 // for Turnigy Plush ESCs 10A
        
            //#define MINTHROTTLE 1120 // for Super Simple ESCs 10A
        
            //#define MINTHROTTLE 1064 // special ESC (simonk)
        
            //#define MINTHROTTLE 1050 // for brushed ESCs like ladybird
        
            #define MINTHROTTLE 1150 // (*)默認怠速
        
          /**************************    設置油門行程最高值    *******************************/
        
            /* 遙控器控制桿行程的最大值(上限為2000) */
        
            #define MAXTHROTTLE 1850 //默認油門最大行程
        
          /****************************    Mincommand          *******************************/
        
            /* 遙控器控制桿行程的最小值。
        
               如果您的遙控器控制桿撥動到最低處,不能低于此數值,請把此數值修改為900 */
        
            #define MINCOMMAND  1000 //
        
          /*******************************    I2C 傳輸速度   *********************************/
        
            #define I2C_SPEED 100000L     //100kHz 標準模式, this value must be used for a genuine WMP
        
            //#define I2C_SPEED 400000L   //400kHz 高速模式, it works only with some WMP clones
        
          /***************************    Internal i2c Pullups   ********************************/
        
            /* 內部I2C上拉使能 (一般情況下最好使用外部上拉電阻) */
        
            #define INTERNAL_I2C_PULLUPS //----------
        
          /**************************************************************************************/
        
          /*****************         飛控板、傳感器 硬件定義            ******************/
        
          /**************************************************************************************/
        
            /***************************    支持的飛控 IMU     ********************************/
        
              /* 如果您的飛控板或傳感器非MWC官方的產品:
        
                 請使用以下列表中兼容硬件的宏定義進行修正.
        
                   備注: 此列表僅對官方的不同硬件版本或與官方版本相兼容的硬件進行修正,其他硬件請慎重 */
        
              //#define FFIMUv1         // first 9DOF+baro board from Jussi, with HMC5843                   <- confirmed by Alex
        
              //#define FFIMUv2         // second version of 9DOF+baro board from Jussi, with HMC5883       <- confirmed by Alex
        
              //#define FREEIMUv1       // v0.1 & v0.2 & v0.3 version of 9DOF board from Fabio
        
              //#define FREEIMUv03      // FreeIMU v0.3 and v0.3.1
        
              //#define FREEIMUv035     // FreeIMU v0.3.5 no baro
        
              //#define FREEIMUv035_MS  // FreeIMU v0.3.5_MS                                                <- confirmed by Alex
        
              #define FREEIMUv035_BMP  //----------FreeIMU v0.3.5_BMP
        
              //#define FREEIMUv04      // FreeIMU v0.4 with MPU6050, HMC5883L, MS561101BA                  <- confirmed by Alex
        
              //#define FREEIMUv043     // same as FREEIMUv04 with final MPU6050 (with the right ACC scale)
        
              //#define NANOWII         // the smallest multiwii FC based on MPU6050 + pro micro based proc <- confirmed by Alex
        
              //#define PIPO            // 9DOF board from erazz
        
              //#define QUADRINO        // full FC board 9DOF+baro board from witespy  with BMP085 baro     <- confirmed by Alex
        
              //#define QUADRINO_ZOOM   // full FC board 9DOF+baro board from witespy  second edition
        
              //#define QUADRINO_ZOOM_MS// full FC board 9DOF+baro board from witespy  second edition       <- confirmed by Alex
        
              //#define ALLINONE        // full FC board or standalone 9DOF+baro board from CSG_EU
        
              //#define AEROQUADSHIELDv2
        
              //#define ATAVRSBIN1      // Atmel 9DOF (Contribution by EOSBandi). requires 3.3V power.
        
              //#define SIRIUS          // Sirius Navigator IMU                                             <- confirmed by Alex
        
              //#define SIRIUSGPS       // Sirius Navigator IMU  using external MAG on GPS board            <- confirmed by Alex
        
              //#define SIRIUS600       // Sirius Navigator IMU  using the WMP for the gyro
        
              //#define SIRIUS_AIR      // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com
        
              //#define SIRIUS_AIR_GPS  // Sirius Navigator IMU 6050 32U4 from MultiWiiCopter.com with GPS/MAG remote located
        
              //#define MINIWII         // Jussi's MiniWii Flight Controller                                <- confirmed by Alex
        
              //#define MICROWII        // MicroWii 10DOF with ATmega32u4, MPU6050, HMC5883L, MS561101BA from
        
              //#define CITRUSv2_1      // CITRUS from qcrc.ca
        
              //#define CHERRY6DOFv1_0
        
              //#define DROTEK_10DOF    // Drotek 10DOF with ITG3200, BMA180, HMC5883, BMP085, w or w/o LLC
        
              //#define DROTEK_10DOF_MS // Drotek 10DOF with ITG3200, BMA180, HMC5883, MS5611, LLC
        
              //#define DROTEK_6DOFv2   // Drotek 6DOF v2
        
              //#define DROTEK_6DOF_MPU // Drotek 6DOF with MPU6050
        
              //#define DROTEK_10DOF_MPU//
        
              //#define MONGOOSE1_0     // mongoose 1.0 
        
              //#define CRIUS_LITE      // Crius MultiWii Lite
        
              //#define CRIUS_SE        // Crius MultiWii SE
        
              //#define OPENLRSv2MULTI  // OpenLRS v2 Multi Rc Receiver board including ITG3205 and ADXL345
        
              //#define BOARD_PROTO_1   // with MPU6050 + HMC5883L + MS baro
        
              //#define BOARD_PROTO_2   // with MPU6050 + slave  MAG3110 + MS baro
        
              //#define GY_80           // Chinese 10 DOF with  L3G4200D ADXL345 HMC5883L BMP085, LLC
        
              //#define GY_85           // Chinese 9 DOF with  ITG3205 ADXL345 HMC5883L LLC
        
              //#define GY_86           // Chinese 10 DOF with  MPU6050 HMC5883L MS5611, LLC
        
              //#define GY_521          // Chinese 6  DOF with  MPU6050, LLC
        
              //#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here
        
              //#define INNOVWORKS_6DOF // with ITG3200, BMA180 available here
        
              //#define MultiWiiMega    // MEGA + MPU6050+HMC5883L+MS5611 available here
        
              //#define PROTO_DIY       // 10DOF mega board
        
              //#define IOI_MINI_MULTIWII//
        
              //#define Bobs_6DOF_V1     // BobsQuads 6DOF V1 with ITG3200 & BMA180
        
              //#define Bobs_9DOF_V1     // BobsQuads 9DOF V1 with ITG3200, BMA180 & HMC5883L
        
              //#define Bobs_10DOF_BMP_V1 // BobsQuads 10DOF V1 with ITG3200, BMA180, HMC5883L & BMP180 - BMP180 is software compatible with BMP085
        
              //#define FLYDUINO_MPU
        
              //#define CRIUS_AIO_PRO_V1
        
              //#define DESQUARED6DOFV2GO  // DEsquared V2 with ITG3200 only
        
              //#define DESQUARED6DOFV4    // DEsquared V4 with MPU6050
        
              //#define LADYBIRD
        
              //#define MEGAWAP_V2_STD     // available here:                  <- confirmed by Alex
        
              //#define MEGAWAP_V2_ADV
        
              //#define HK_MultiWii_SE_V2  // Hobbyking board with MPU6050 + HMC5883L + BMP085
        
              //#define HK_MultiWii_328P   // Also labeled "Hobbybro" on the back.  ITG3205 + BMA180 + BMP085 + NMC5583L + DSM2 Connector (Spektrum Satellite) 
        
              //#define RCNet_FC           // RCNet FC with MPU6050 and MS561101BA 
        
              //#define RCNet_FC_GPS       // RCNet FC with MPU6050 + MS561101BA + HMC5883L + UBLOX GPS
        
              //#define FLYDU_ULTRA        // MEGA+10DOF+MT3339 FC
        
             
        
            /***************************    設置傳感器模塊    ********************************/
        
              /* 根據您飛控板的硬件,配置匹配、兼容的傳感器 */
        
              /* I2C 陀螺儀gyroscope */
        
              //#define WMP
        
              #define ITG3200 //----------
        
              //#define L3G4200D
        
              //#define MPU6050       //combo + ACC
        
              /* I2C 加速度傳感器(自穩)accelerometer */
        
              //#define NUNCHUCK  // if you want to use the nunckuk connected to a WMP
        
              //#define MMA7455
        
              //#define ADXL345
        
              //#define BMA020
        
              #define BMA180 //----------
        
              //#define NUNCHACK  // if you want to use the nunckuk as a standalone I2C ACC without WMP
        
              //#define LIS3LV02
        
              //#define LSM303DLx_ACC
        
              //#define MMA8451Q
        
              /* I2C 氣壓計(鎖定高度)barometer */
        
              #define BMP085 //----------
        
              //#define MS561101BA
        
              /* I2C 磁力計(電子羅盤,鎖定航向)magnetometer */
        
              //#define HMC5843
        
              #define HMC5883
        
              //#define AK8975
        
              //#define MAG3110
        
              /* 聲納系統Sonar */ // 用于低空(4~5米內)的高精度定高飛行 - no control code behind
        
              //#define SRF02 // use the Devantech SRF i2c sensors
        
              //#define SRF08
        
              //#define SRF10
        
              //#define SRF23
        
              /* ADC 加速度計 */ // 至少需要5通道, 并設置3檔自由度 PIN A1/A2/A3
        
              //#define ADCACC
        
              /* 設定默認自穩傳感器 - 實現穩定控制 */
        
              #define FORCE_ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  =  Y; accADC[PITCH]  = -X; accADC[YAW]  = Z;} //----------
        
              //#define FORCE_GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] = -Y; gyroADC[PITCH] =  X; gyroADC[YAW] = Z;}
        
              //#define FORCE_MAG_ORIENTATION(X, Y, Z)  {magADC[ROLL]  =  X; magADC[PITCH]  =  Y; magADC[YAW]  = Z;}
        
              /* 飛行器正前方軟件修正 */
        
              /* 利用程序旋轉45度,把飛行器正前方 向左或向右改變45度(只能選一個。。
        
          設置新的正前方之后,請認真檢查電機的旋轉方向,確保符合要求!
        
          這個功能實現了軟旋轉45度,免去無法打定位孔的痛苦。 */
        
              //#define SENSORS_TILT_45DEG_RIGHT        // rotate the FRONT 45 degres clockwise
        
              //#define SENSORS_TILT_45DEG_LEFT         // rotate the FRONT 45 degres counterclockwise
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  2 - 飛機設置                                *******/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /********************************    TRI方向設置    *********************************/
        
            #define YAW_DIRECTION 1
        
            //#define YAW_DIRECTION -1 // 此設置修正方向舵正反
        
            /* 您可以修改以下3條,來改變方向舵行程 */
        
              #define TRI_YAW_CONSTRAINT_MIN 1020
        
              #define TRI_YAW_CONSTRAINT_MAX 2000
        
              #define TRI_YAW_MIDDLE 1500 // (*) 方向舵中心點. - 默認; 可通過LCD查看更改的參數
        
          /********************************    BI升降設置    *********************************/
        
            /* 此設置修正升降舵正反 */    
        
            //#define BI_PITCH_DIRECTION 1
        
             #define BI_PITCH_DIRECTION -1
        
           /********************************    ARM/DISARM飛控解鎖設置    *********************************/
        
           /* optionally disable stick combinations to arm/disarm the motors.
        
             * In most cases one of the two options to arm/disarm via TX stick is sufficient */
        
            #define ALLOW_ARM_DISARM_VIA_TX_YAW
        
            //#define ALLOW_ARM_DISARM_VIA_TX_ROLL
        
          /***********************          Cam Stabilisation云臺增穩             ***********************/
        
            /* The following lines apply only for a pitch/roll tilt stabilization system. Uncomment the first or second line to activate it */
        
            //#define SERVO_MIX_TILT //啟用云臺
        
            //#define SERVO_TILT //啟用云臺
        
            #define TILT_PITCH_MIN    1020    //云臺升降舵最小值, 不能低于1020
        
            #define TILT_PITCH_MAX    2000    //云臺升降舵最大值, 不能高于2000
        
            #define TILT_PITCH_MIDDLE 1500    //云臺升降舵中心點
        
            #define TILT_PITCH_PROP   10      //升降舵補償角度; 如果反向可在數值前加 - 號
        
            #define TILT_PITCH_AUX_CH AUX3    //AUX channel to overwrite CAM pitch (AUX1-AUX4), comment to disable manual input and free the AUX channel
        
            #define TILT_ROLL_MIN     1020 //云臺副翼舵機
        
            #define TILT_ROLL_MAX     2000
        
            #define TILT_ROLL_MIDDLE  1500
        
            #define TILT_ROLL_PROP    10
        
            #define TILT_ROLL_AUX_CH  AUX4    //AUX channel to overwrite CAM Roll (AUX1-AUX4), comment to disable manual input and free the AUX channel
        
            /* camera trigger function : activated via Rc Options in the GUI, servo output=A2 on promini */
        
            //#define CAMTRIG
        
            #define CAM_SERVO_HIGH 2000  // 云臺快門舵最高行程
        
            #define CAM_SERVO_LOW 1020   // 云臺快門舵最低行程
        
            #define CAM_TIME_HIGH 1000   // 云臺快門按下的時間 (單位ms)
        
            #define CAM_TIME_LOW 1000    // 云臺快門按下的時間 (單位ms)
        
          /***********************          Flying Wing                   ***********************/
        
            /* 設置各舵正反向 和 各舵的 最小/最大 行程;
        
               適用于各種飛行模式,甚至直通模式;
        
               在此處設置各舵的正反向,不需要交換遙控接收機的舵機連接線 */
        
            #define PITCH_DIRECTION_L 1 // 左舵 - 升降正反向
        
            #define PITCH_DIRECTION_R -1  // 右舵 - 升降正反向 (opposite sign to PITCH_DIRECTION_L, if servos are mounted in mirrored orientation)
        
            #define ROLL_DIRECTION_L 1 // 左舵 - 副翼(翻滾)正反向
        
            #define ROLL_DIRECTION_R 1  // 右舵 - 副翼(翻滾)正反向  (same sign as ROLL_DIRECTION_L, if servos are mounted in mirrored orientation)
        
            #define WING_LEFT_MID  1500 // (*) 左舵中心點. - 默認; 可通過LCD查看更改的參數
        
            #define WING_RIGHT_MID 1500 // (*) 右舵中心點. - 默認; 可通過LCD查看更改的參數
        
            #define WING_LEFT_MIN  1020 // 限制舵機的行程必須在 [1020;2000]
        
            #define WING_LEFT_MAX  2000 // 限制舵機的行程必須在 [1020;2000]
        
            #define WING_RIGHT_MIN 1020 // 限制舵機的行程必須在 [1020;2000]
        
            #define WING_RIGHT_MAX 2000 // 限制舵機的行程必須在 [1020;2000]
        
          /***********************          固定翼(譯者注:沒搞清楚的功能,估計是混控設置,歡迎討論補充 QQ:113971685)                       ***********************/
        
            //#define USE_THROTTLESERVO // For use of standard 50Hz servo on throttle.
        
            #define SERVO_RATES      {100, 100, 100, 100, 100, 100, 100, 100} // Rates in 0-100%
        
            #define SERVO_DIRECTION  { -1,   1,   1,   -1,  1,   1,   1,   1 } // Invert servos by setting -1
        
            //#define FLAPPERONS    AUX4          // Mix Flaps with Aileroins.
        
            #define FLAPPERON_EP   { 1500, 1700 } // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
        
            //#define FLAPPERON_EP   { 1200, 1500 } // Or Flapperons up for CrowMix
        
            #define FLAPPERON_INVERT { 1, -1 }    // Change direction om flapperons { Wing1, Wing2 }
        
           
        
            //#define FLAPS         AUX4          // Traditional Flaps on A2 invert with SERVO_DIRECTION servo[2).
        
            #define FLAP_EP      { 1500, 1900 }   // Endpooints for flaps on a 2 way switch else set {1020,2000} and program in radio.
        
            //#define FLAPSPEED     3             // Make flaps move slowm Higher value is Higher Speed.
        
          /***********************      常見直升機 與 固定翼         ***********************/
        
            //#define D12_POWER      // Use D12 on PROMINI to power sensors. Will disable servo[4] on D12
        
            #define SERVO_OFFSET     {  0,   0,   0,  0,   0,   0,  0,   0 } // (*) Adjust Servo MID Offset & Swash angles
        
            // Selectable channels:=    ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4
        
            /* Governor: attempts to maintain rpm through pitch and voltage changes
        
             * predictive approach: observe input signals and voltage and guess appropriate corrections.
        
             * (the throttle curve must leave room for the governor, so 0-50-75-80-80 is ok, 0-50-95-100-100 is _not_ ok.
        
             * Can be toggled via aux switch.
        
             */
        
            //#define GOVERNOR_P 7     // (*) proportional factor. Higher value -> higher throttle increase. Must be >=1; 0 = turn off
        
            //#define GOVERNOR_D 4     // (*) decay timing. Higher value -> takes longer to return throttle to normal. Must be >=1;
        
            //#define GOVERNOR_R 10    // (*) voltage impact correction scale in 0.1 units. Higher value -> more compensation for voltage drops. normal is value 10 <=> 1.0; 0 is off
        
          /***********************          直升機                           ***********************/
        
            /* Channel to control CollectivePitch */
        
            #define COLLECTIVE_PITCH      THROTTLE
        
            /* Set Maximum available movement for the servos. Depending on model */
        
            #define SERVO_ENDPOINT_HIGH {2000,2000,2000,2000,2000,2000,2000,2000};
        
            #define SERVO_ENDPOINT_LOW  {1020,1020,1020,1020,1020,1020,1020,1020};
        
            /* Limit the range of Collective Pitch. 100% is Full Range each way and position for Zero Pitch */
        
            #define COLLECTIVE_RANGE { 80, 0, 80 }// {Min%, ZeroPitch offset from 1500, Max%}.
        
            #define YAW_CENTER             1500      // Use servo[5] SERVO_ENDPOINT_HIGH/LOW for the endpoits.
        
            #define YAWMOTOR                 0       // If a motor is used as YAW Set to 1 else set to 0.
        
            /* Servo mixing for heli 120 Use 1/10 fractions (ex.5 = 5/10 = 1/2)
        
                                 {Coll,Nick,Roll} */
        
            #define SERVO_NICK   { +10, -10, -0 }
        
            #define SERVO_LEFT   { +10, +5, +10 }
        
            #define SERVO_RIGHT  { +10, +5, -10 }
        
            /* Servo mixing for heli 90
        
                                    {Coll,Nick,Roll} */
        
            #define SERVO_DIRECTIONS { +1, -1, -1 } // -1 will invert servo
        
            /* Limit Maximum controll for Roll & Nick  in 0-100% */
        
            #define CONTROL_RANGE   { 100, 100 }      //  { ROLL,PITCH }
        
            /* use servo code to drive the throttle output. You want this for analog servo driving the throttle on IC engines.
        
               if inactive, throttle output will be treated as a motor output, so it can drive an ESC */
        
            //#define HELI_USE_SERVO_FOR_THROTTLE
        
          /***********************      Single and DualCopter Settings     ***********************/
        
            /* Change to -1 to reverse servomovement per axis
        
               Servosettings for SingleCopter */
        
            #define SINGLECOPTRER_YAW   {1, 1, 1, 1} // Left, Right,Front,Rear
        
            #define SINGLECOPTRER_SERVO {1,-1, 1,-1} // Pitch,Pitch,Roll, Roll   
        
         
        
            /* Servosettings for DualCopter */
        
             #define DUALCOPTER_SERVO {1,1} //Pitch,Roll
        
            /* Use  SERVO_OFFSET and SERVO_RATES in Heli and Airplane section for centering and endpoints */
        
          /***********************      your individual mixing     ***********************/
        
            /* if you want to override an existing entry in the mixing table, you may want to avoid esditing the
        
             * mixTable() function for every version again and again.
        
             * howto:
        
             */
        
            //#define MY_PRIVATE_MIXING "filename.h"
        
            //#define LEAVE_HEADROOM_FOR_MOTORS 4 // leave room for gyro corrrections only for first 4 motors
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  3 - 信號接收設置                                            *******/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /* 注: 如果您使用的是標準接收機,請不要設置此部分 */
        
          /**************************************************************************************/
        
          /********                       特殊的接收機類型             ********************/
        
          /**************************************************************************************/
        
            /****************************    PPM Sum 接收機    ***********************************/
        
              /* The following lines apply only for specific receiver with only one PPM sum signal, on digital PIN 2
        
                 Select the right line depending on your radio brand. Feel free to modify the order in your PPM order is different */
        
              //#define SERIAL_SUM_PPM         PITCH,YAW,THROTTLE,ROLL,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Graupner/Spektrum
        
              //#define SERIAL_SUM_PPM         ROLL,PITCH,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Robe/Hitec/Futaba
        
              //#define SERIAL_SUM_PPM         ROLL,PITCH,YAW,THROTTLE,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For Multiplex
        
              //#define SERIAL_SUM_PPM         PITCH,ROLL,THROTTLE,YAW,AUX1,AUX2,AUX3,AUX4,8,9,10,11 //For some Hitec/Sanwa/Others
        
              // Uncommenting following line allow to connect PPM_SUM receiver to standard THROTTLE PIN on MEGA boards (eg. A8 in CRIUS AIO)
        
              //#define PPM_ON_THROTTLE
        
            /**********************    衛星接收機設置    *******************************/
        
              /* The following lines apply only for Spektrum Satellite Receiver
        
                 Spektrum Satellites are 3V devices.  DO NOT connect to 5V!
        
                 For MEGA boards, attach sat grey wire to RX1, pin 19. Sat black wire to ground. Sat orange wire to Mega board's 3.3V (or any other 3V to 3.3V source).
        
                 For PROMINI, attach sat grey to RX0.  Attach sat black to ground. */
        
              //#define SPEKTRUM 1024
        
              //#define SPEKTRUM 2048
        
              //#define SPEK_SERIAL_PORT 1    // Forced to 0 on Pro Mini and single serial boards; Set to your choice of 0, 1, or 2 on any Mega based board (defaults to 1 on Mega).
        
              //**************************
        
              // Defines that allow a "Bind" of a Spektrum or Compatible Remote Receiver (aka Satellite) via Configuration GUI.
        
              //   Bind mode will be same as declared above, if your TX is capable.
        
              //   Ground, Power, and Signal must come from three adjacent pins.
        
              //   By default, these are Ground=4, Power=5, Signal=6.  These pins are in a row on most MultiWii shield boards. Pins can be overriden below. 
        
              //   Normally use 3.3V regulator is needed on the power pin!!  If your satellite hangs during bind (blinks, but won't complete bind with a solid light), go direct 5V on all pins.
        
              //**************************
        
              //   For Pro Mini, the connector for the Satellite that resides on the FTDI can be unplugged and moved to these three adjacent pins.
        
              //#define SPEK_BIND             //Un-Comment for Spektrum Satellie Bind Support.  Code is ~420 bytes smaller without it.
        
              //#define SPEK_BIND_GROUND 4
        
              //#define SPEK_BIND_POWER  5
        
              //#define SPEK_BIND_DATA   6
        
            /*******************************    總線通信的接收機    ************************************/
        
              /* The following line apply only for Futaba S-Bus Receiver on MEGA boards at RX1 only (Serial 1).
        
                 You have to invert the S-Bus-Serial Signal e.g. with a Hex-Inverter like IC SN74 LS 04 */
        
              //#define SBUS
        
            /******************* 接收機使用串行通信端口,并且符合Multiwii串行通信協議 *********/
        
              //#define RCSERIAL
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  4 - 設置擴展CPU與板                                    *******/
        
        /*****************                         
        
        由于328P單片機接口有限,請注意接收機、飛行模式與云臺增穩模式的搭配:
        
        ◆4軸(QUADX/QUADX/Y4)
        
        標準接收機或者PPM SUM接收機,同時可用云臺增穩:電調需要連接D3/D9/D10/D11,增穩舵機連接A0/A1,快門舵機連接A2。
        
        ◆6軸(Y6/HEX6/HEX6X)
        
        標準接收機,無需云臺增穩:A0/A1輸出替代D5/D6,也就是電調需要連接D3/D9/D10/D11/A0/A1;PPM SUM接收機,需要云臺增穩:電調需要連接D3/D9/D10/D11/D5/D6,增穩舵機連接A0/A1,快門舵機連接A2;
        
        標準接收機,需要云臺增穩:A0/A1輸出替代D5/D6,也就是電調需要連接D3/D9/D10/D11/A0/A1,增穩舵機連接A2/D12,無快門舵機支持。
        
        ◆8軸(OCTOX8/OCTOFLATP/OCTOFLATX)
        
        標準接收機或者PPM SUM接收機,電調需要連接D3/D9/D10/D11/A0/A1/A1/D12,無云臺增穩與快門舵機支持。
        
                                               ***************/
        
        /*************************************************************************************************/
        
          /**************************************************************************************/
        
          /********                      Promini Specifig Settings           ********************/
        
          /**************************************************************************************/
        
            /**************************    Hexa Motor 5 & 6 Pins    *******************************/
        
              /* PIN A0 and A1 instead of PIN D5 & D6 for 6 motors config and promini config
        
                 This mod allow the use of a standard receiver on a pro mini
        
                 (no need to use a PPM sum receiver) */
        
              //#define A0_A1_PIN_HEX //四軸不啟用,六軸用
        
            /*********************************    設置 Aux 2 輸入端口     ***********************************/
        
              /* 設置D8或D12作為AUX2信號輸入端口,可通過三位(或者兩位)開關的信號控制某些功能的開和關;請注意只能啟用其中之一!!
        
          由于飛控的D8接口就在信號的那一排,所以為了方便,我們選D8作為AUX2的端口 */
        
              #define RCAUXPIN8 //----------
        
              //#define RCAUXPIN12
        
          /**************************************************************************************/
        
          /*****************             Teensy 2.0 Support                    ******************/
        
          /**************************************************************************************/
        
            /* uncomment this if you use a teensy 2.0 with teensyduino
        
               it needs to run at 16MHz */
        
            //#define TEENSY20
        
          /**************************************************************************************/
        
          /********   Settings for ProMicro, Leonardo and other Atmega32u4 Boards     ***********/
        
          /**************************************************************************************/
        
            /*********************************    pin Layout     **********************************/
        
              /* activate this for a better pinlayout if all pins can be used => not possible on ProMicro */
        
              //#define A32U4ALLPINS
        
            /**********************************    PWM Setup     **********************************/
        
              /* activate all 6 hardware PWM outputs Motor 5 = D11 and 6 = D13.
        
                 note: not possible on the sparkfun promicro (pin 11 & 13 are not broken out there)
        
                 if activated:
        
                 Motor 1-6 = 10-bit hardware PWM
        
                 Motor 7-8 = 8-bit Software PWM
        
                 Servos    = 8-bit Software PWM
        
                 if deactivated:
        
                 Motor 1-4 = 10-bit hardware PWM
        
                 Motor 5-8 = 10-bit Software PWM
        
                 Servos    = 10-bit Software PWM */
        
              //#define HWPWM6
        
            /**********************************    Aux 2 Pin     **********************************/
        
              /* AUX2 pin on pin RXO */
        
              //#define RCAUX2PINRXO
        
              /* aux2 pin on pin D17 (RXLED) */
        
              //#define RCAUX2PIND17
        
            /**********************************    蜂鳴器 Pin    **********************************/
        
              /* this moves the Buzzer pin from TXO to D8 for use with ppm sum or spectrum sat. RX (not needed if A32U4ALLPINS is active) */
        
              //#define D8BUZZER
        
            /***********************      Promicro version related     ****************************/
        
              /* Inverted status LED for Promicro ver 10 */
        
              //#define PROMICRO10
        
          /**************************************************************************************/
        
          /********                      override default pin assignments    ********************/
        
          /**************************************************************************************/
        
          /* only enable any of this if you must change the default pin assignment, e.g. your board does not have a specific pin */
        
          /* you may need to change PINx and PORTx plus #shift according to the desired pin! */
        
          //#define OVERRIDE_V_BATPIN                   A0 // instead of A3    // Analog PIN 3
        
          //#define OVERRIDE_LEDPIN_PINMODE             pinMode (A1, OUTPUT); // use A1 instead of d13
        
          //#define OVERRIDE_LEDPIN_TOGGLE              PINC |= 1<<1; // PINB |= 1<<5;     //switch LEDPIN state (digital PIN 13)
        
          //#define OVERRIDE_LEDPIN_OFF                 PORTC &= ~(1<<1); // PORTB &= ~(1<<5);
        
          //#define OVERRIDE_LEDPIN_ON                  PORTC |= 1<<1;    // was PORTB |= (1<<5);
        
          //#define OVERRIDE_BUZZERPIN_PINMODE          pinMode (A2, OUTPUT); // use A2 instead of d8
        
          //#define OVERRIDE_BUZZERPIN_ON               PORTC |= 1<<2 //PORTB |= 1;
        
          //#define OVERRIDE_BUZZERPIN_OFF              PORTC &= ~(1<<2); //PORTB &= ~1;
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  5 - 擴展設置                                            *******/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /******                端口通信速率    *********************************/
        
            /* 設置串行端口的通信速率 */
        
            #define SERIAL0_COM_SPEED 115200
        
            #define SERIAL1_COM_SPEED 115200
        
            #define SERIAL2_COM_SPEED 115200
        
            #define SERIAL3_COM_SPEED 115200
        
            /* interleaving delay in micro seconds between 2 readings WMP/NK in a WMP+NK config
        
               if the ACC calibration time is very long (20 or 30s), try to increase this delay up to 4000
        
               it is relevent only for a conf with NK */
        
            #define INTERLEAVING_DELAY 3000
        
            /* when there is an error on I2C bus, we neutralize the values during a short time. expressed in microseconds
        
               it is relevent only for a conf with at least a WMP */
        
            #define NEUTRALIZE_DELAY 100000
        
          /**************************************************************************************/
        
          /********                              陀螺儀濾波器                ********************/
        
          /**************************************************************************************/
        
            /*********************    設置陀螺儀低通濾波器LPF    ****************************/
        
              /* ITG3200 & ITG3205 低通濾波器設置. 如果您陀螺不能有效消除震動,可以試試降低LPF頻率,
        
         可以嘗試每個參數. As soon as twitching gone, stick with that setting.
        
                 It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
        
                 balancing options ran out. 參數僅能選擇一個!
        
                 重要! 改變低通濾波器設置會影響PID,所以改變低通濾波器(LPF)后請重新設置PID.*/
        
              //#define ITG3200_LPF_256HZ     // 僅供參考:這個參數是默認設置,不需要取消注釋
        
              //#define ITG3200_LPF_188HZ
        
              //#define ITG3200_LPF_98HZ
        
              //#define ITG3200_LPF_42HZ
        
              //#define ITG3200_LPF_20HZ
        
              //#define ITG3200_LPF_10HZ      // Use this only in extreme cases, rather change motors and/or props
        
              /* MPU6050 低通濾波器設置. 如果您陀螺不能有效消除震動,可以試試降低LPF頻率,
        
         可以嘗試每個參數. As soon as twitching gone, stick with that setting.
        
                 It will not help on feedback wobbles, so change only when copter is randomly twiching and all dampening and
        
                 balancing options ran out. 參數僅能選擇一個!
        
                 重要! 改變低通濾波器設置會影響PID,所以改變低通濾波器(LPF)后請重新設置PID.*/
        
              //#define MPU6050_LPF_256HZ     // 僅供參考:這個參數是默認設置,不需要取消注釋
        
              //#define MPU6050_LPF_188HZ
        
              //#define MPU6050_LPF_98HZ
        
              //#define MPU6050_LPF_42HZ
        
              //#define MPU6050_LPF_20HZ
        
              //#define MPU6050_LPF_10HZ
        
              //#define MPU6050_LPF_5HZ       // Use this only in extreme cases, rather change motors and/or props
        
            /******                陀螺儀平滑    **********************************/
        
              /* GYRO_SMOOTHING. 如果您嘗試了低通濾波器的所有設置之后,仍然不能消除震動, 您可以試試陀螺儀平滑.
        
         不適用于multicopters!
        
                 Good results for helicopter, airplanes and flying wings (foamies) with lots of vibrations.*/
        
              //#define GYRO_SMOOTHING {20, 20, 3}    // (*) separate averaging ranges for roll, pitch, yaw
        
            /************************    陀螺儀平均值濾波    **********************************/
        
              //#define MMGYRO 10                      // (*)  濾波函數陀螺儀有效值
        
              //#define MMGYROVECTORLENGTH 15          // Length of Moving Average Vector (maximum value for tunable MMGYRO
        
              /* Moving Average ServoGimbal Signal Output */
        
              //#define MMSERVOGIMBAL                  // Active Output Moving Average Function for Servos Gimbal
        
              //#define MMSERVOGIMBALVECTORLENGHT 32   // Lenght of Moving Average Vector
        
         
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  6 - 可選設置                                          *******/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /************************        continuous gyro calibration        ********************/
        
          /* Gyrocalibration will be repeated if copter is moving during calibration. */
        
            //#define GYROCALIBRATIONFAILSAFE
        
          /************************        AP FlightMode        **********************************/
        
            /* Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks.*/
        
            #define AP_MODE 40  // Create a deadspan for GPS.
        
               
        
          /************************   Assisted AcroTrainer    ************************************/
        
            /* Train Acro with auto recovery. Value set the point where ANGLE_MODE takes over.
        
               Remember to activate ANGLE_MODE first!...
        
               A Value on 200 will give a very distinct transfer */
        
            //#define ACROTRAINER_MODE 200   //
        
          /********                          安全設置                 ********************/
        
            /* 在CH1-CH4四個主要的控制通道進行脈沖故障檢測. 任何主控制通道的脈沖丟失或大于985us,將啟動安全程序。
        
           從FAILSAFE_DELAY時間后, 自穩模式上 (如果加速度傳感器ACC狀態為開),副翼、升降、方向、油門都將設置為FAILSAFE_THR0TTLE值.
        
           最好的結果是設置此值可讓飛行器下降速度為1m/s. 實現靈敏度以及其他指標的最優值取決于您飛行器的具體配置.
        
           然后, 飛行器將在FAILSAFE_OFF_DELAY時間后電機完全關閉.
        
               如果控制脈沖在小于FAILSAFE_OFF_DELAY的時間內恢復正常,控制脈沖將接管飛行器的控制權. */
        
            //#define FAILSAFE                                // 取消此注釋,將激活安全保護函數
        
            #define FAILSAFE_DELAY     10                     // 控制脈沖丟失時間閥值. 1 步 = 0.1 秒 - 1 秒
        
            #define FAILSAFE_OFF_DELAY 200                    // Time for Landing before motors stop in 0.1sec. 1 step = 0.1sec - 20sec in example
        
            #define FAILSAFE_THROTTLE  (MINTHROTTLE + 200)    // (*) Throttle level used for landing - may be relative to MINTHROTTLE - as in this case
        
          /*****************                DFRobot LED RING    *********************************/
        
            /* I2C DFRobot LED RING communication */
        
            //#define LED_RING
        
          /********************************    LED FLASHER    ***********************************/
        
            //#define LED_FLASHER
        
            //#define LED_FLASHER_DDR DDRB
        
            //#define LED_FLASHER_PORT PORTB
        
            //#define LED_FLASHER_BIT PORTB4
        
            //#define LED_FLASHER_INVERT
        
            //#define LED_FLASHER_SEQUENCE        0b00000000      // leds OFF
        
            //#define LED_FLASHER_SEQUENCE_ARMED  0b00000101      // create double flashes
        
            //#define LED_FLASHER_SEQUENCE_MAX    0b11111111      // full illumination
        
            //#define LED_FLASHER_SEQUENCE_LOW    0b00000000      // no illumination
        
          /*******************************    Landing lights    *********************************/
        
          /* Landing lights
        
             Use an output pin to control landing lights.
        
             They can be switched automatically when used in conjunction
        
             with altitude data from a sonar unit. */
        
            //#define LANDING_LIGHTS_DDR DDRC
        
            //#define LANDING_LIGHTS_PORT PORTC
        
            //#define LANDING_LIGHTS_BIT PORTC0
        
            //#define LANDING_LIGHTS_INVERT
        
            /* altitude above ground (in cm) as reported by sonar */
        
            //#define LANDING_LIGHTS_AUTO_ALTITUDE 50
        
            /* adopt the flasher pattern for landing light LEDs */
        
            //#define LANDING_LIGHTS_ADOPT_LED_FLASHER_PATTERN
        
          /*************************    INFLIGHT ACC Calibration    *****************************/
        
            /* This will activate the ACC-Inflight calibration if unchecked */
        
            //#define INFLIGHT_ACC_CALIBRATION
        
          /**************************    Disable WMP power pin     *******************************/
        
            /* disable use of the POWER PIN
        
               (allready done if the option RCAUXPIN12 is selected) */
        
            //#define DISABLE_POWER_PIN
        
          /*******************************    OSD Switch    *************************************/
        
            // This adds a box that can be interpreted by OSD in activation status (to switch on/off the overlay for instance)
        
          //#define OSD_SWITCH
        
          /**************************************************************************************/
        
          /***********************                  TX-related 相關        **************************/
        
          /**************************************************************************************/
        
            /*  遙控信號誤差:接收機信號脈寬會有1~3us的誤差,設置合理的死區寬度,可以讓飛控更穩定,避免誤差造成誤動作
        
        設置過大,將使搖桿分辨率降低,微小動作無法識別反而降低靈敏度,這個值默認為6*/
        
            #define DEADBAND 6 //----------
        
            /* 定義氣壓計的高度保持功能允許容差,默認+/-40;
        
        低于這個誤差值飛控不動作. 氣壓定高時有用,忽略一定范圍的誤差 */
        
            #define ALT_HOLD_THROTTLE_NEUTRAL_ZONE 40  //----------
        
          /**************************************************************************************/
        
          /***********************                  GPS                **************************/
        
          /**************************************************************************************/
        
            /* GPS using a SERIAL port
        
               if enabled, define here the Arduino Serial port number and the UART speed
        
               note: only the RX PIN is used in case of NMEA mode, the GPS is not configured by multiwii
        
               in NMEA mode the GPS must be configured to output GGA and RMC NMEA sentences (which is generally the default conf for most GPS devices)
        
               at least 5Hz update rate. uncomment the first line to select the GPS serial port of the arduino */
        
            //#define GPS_SERIAL 2 //啟用端口should be 2 for flyduino v2. It's the serial port number on arduino MEGA
        
            //#define GPS_BAUD   57600
        
            #define GPS_BAUD   115200 //波特率設置
        
           /* GPS protocol
        
               NMEA  - Standard NMEA protocol GGA, GSA and RMC  sentences are needed
        
               UBLOX - U-Blox binary protocol, use the ublox config file (u-blox-config.ublox.txt) from the source tree
        
               MTK_BINARY16 and MTK_BINARY19 - MTK3329 chipset based GPS with DIYDrones binary firmware (v1.6 or v1.9)
        
               With UBLOX and MTK_BINARY you don't have to use GPS_FILTERING in multiwii code !!! */
        
           
        
            //#define NMEA
        
            //#define UBLOX
        
            //#define MTK_BINARY16
        
            //#define MTK_BINARY19
        
            //#define INIT_MTK_GPS        // initialize MTK GPS for using selected speed, 5Hz update rate and GGA & RMC sentence or binary settings
        
            //#define GPS_PROMINI_SERIAL    57600 // Will Autosense if GPS is connected when ardu boots
        
          
        
            /* I2C GPS device made with an independant arduino + GPS device
        
               including some navigation functions
        
               contribution from EOSBandi   http://code.google.com/p/i2c-gps-nav/ ;
        
               You have to use at least I2CGpsNav code r33
        
        I2C-GPS導航板    */
        
            //#define I2C_GPS
        
            /* I2C GPS device made with an indeedent ATTiny[24]313 + GPS device and
        
               optional sonar device.    https://github.com/wertarbyte/tiny-gps/ ;*/
        
            /* get GPS data from Tiny-GPS */
        
            //#define TINY_GPS
        
            /* get sonar data from Tiny-GPS */
        
            //#define TINY_GPS_SONAR
        
            /* GPS data readed from Misio-OSD - GPS module connected to OSD, and MultiWii read GPS data from OSD - tested and working OK ! */
        
            //#define GPS_FROM_OSD
        
            /* indicate a valid GPS fix with at least 5 satellites by flashing the LED  - Modified by MIS - Using stable LED (YELLOW on CRIUS AIO) led work as sat number indicator
        
              - No GPS FIX -> LED blink at speed of incoming GPS frames
        
              - Fix and sat no. bellow 5 -> LED off
        
              - Fix and sat no. >= 5 -> LED blinks, one blink for 5 sat, two blinks for 6 sat, three for 7 ... */
        
            #define GPS_LED_INDICATOR  //指示燈
        
            //#define USE_MSP_WP                        //Enables the MSP_WP command, which is used by WinGUI to display and log Home and Poshold positions
        
            //#define DONT_RESET_HOME_AT_ARM             // HOME position is reset at every arm, uncomment it to prohibit it (you can set home position with GyroCalibration)
        
            /* GPS navigation can control the heading */
        
           
        
            #define NAV_CONTROLS_HEADING       true      // copter faces toward the navigation point, maghold must be enabled for it
        
            #define NAV_TAIL_FIRST             false     // true - copter comes in with tail first
        
            #define NAV_SET_TAKEOFF_HEADING    true      // true - when copter arrives to home position it rotates it's head to takeoff direction
        
           
        
           
        
            /* 從這個網址得到您所在位置的地磁偏角 : http://magnetic-declination.com/
        
               Convert the degree+minutes into decimal degree by ==> degree+minutes*(1/60)
        
               Note the sign on declination it could be negative or positive (WEST or EAST) */
        
            //#define MAG_DECLINIATION  3.96f              //地磁偏角.
        
            #define MAG_DECLINIATION  0.0f //----------地磁偏角
        
            #define GPS_LEAD_FILTER                      // Adds a forward predictive filterig to compensate gps lag. Code based on Jason Short's lead filter implementation
        
           
        
            //#define GPS_FILTERING                        // add a 5 element moving average filter to GPS coordinates, helps eliminate gps noise but adds latency comment out to disable
        
            #define GPS_WP_RADIUS              200       // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
        
            #define NAV_SLEW_RATE              30        // Adds a rate control to nav output, will smoothen out nav angle spikes
        
          /**************************************************************************************/
        
          /***********************        LCD/OLED - 顯示設置       *********************/
        
          /**************************************************************************************/
        
            /*  ;*/
        
            /*****************************   The type of LCD     **********************************/
        
              /* choice of LCD attached for configuration and telemetry, see notes below */
        
              //#define LCD_DUMMY       // No Physical LCD attached.  With this & LCD_CONF defined, TX sticks still work to set gains, by watching LED blink. 
        
              //#define LCD_SERIAL3W    // Alex' initial variant with 3 wires, using rx-pin for transmission @9600 baud fixed
        
              //#define LCD_TEXTSTAR    // SERIAL LCD: Cat's Whisker LCD_TEXTSTAR Module CW-LCD-02 (Which has 4 input keys for selecting menus)
        
              //#define LCD_VT100       // SERIAL LCD: vt100 compatible terminal emulation (blueterm, putty, etc.)
        
              //#define LCD_TTY         // SERIAL LCD: useful to tweak parameters over cable with arduino IDE 'serial monitor'
        
              //#define LCD_ETPP        // I2C LCD: Eagle Tree Power Panel LCD, which is i2c (not serial)
        
              //#define LCD_LCD03       // I2C LCD: LCD03, which is i2c
        
              //#define OLED_I2C_128x64 // I2C LCD: OLED
        
            /******************************   顯示設置   ***********************************/
        
              #define LCD_SERIAL_PORT 0    // must be 0 on Pro Mini and single serial boards; Set to your choice on any Mega based board
        
              //#define SUPPRESS_OLED_I2C_128x64LOGO  // suppress display of OLED logo to save memory
        
            /* double font height for better readability. Reduces visible #lines by half.
        
             * The lower part of each page is accessible under the name of shifted keyboard letter :
        
             * 1 - ! , 2 - @ , 3 - # , 4 - $ , 5 - % , 6 - ^ , 7 - & , 8 - * , 9 - (
        
             * You must add both to your lcd.telemetry.* sequences
        
             */
        
              //#define DISPLAY_FONT_DSIZE //currently only aplicable for OLED_I2C_128x64
        
            /* style of display - AUTODETECTED via LCD_ setting - only activate to override defaults */
        
              //#define DISPLAY_2LINES
        
              //#define DISPLAY_MULTILINE
        
              //#define MULTILINE_PRE 2  // multiline configMenu # pref lines
        
              //#define MULTILINE_POST 6 // multiline configMenu # post lines
        
            /********************************    Navigation     ***********************************/
        
            /* keys to navigate the LCD menu */
        
              #define LCD_MENU_PREV 'p'
        
              #define LCD_MENU_NEXT 'n'
        
              #define LCD_VALUE_UP 'u'
        
              #define LCD_VALUE_DOWN 'd'
        
              #define LCD_MENU_SAVE_EXIT 's'
        
              #define LCD_MENU_ABORT 'x'
        
          /**************************************************************************************/
        
          /***********************      LCD 菜單配置         **************************/
        
          /**************************************************************************************/
        
            /* 如果您想啟用LCD 或 OLED 來設置參數,請啟用LCD_CONF。
        
             *  ;*/
        
              //#define LCD_CONF
        
            /* 可通過LCD顯示來設置輔助開關AUX1 -> AUX4,請啟用LCD_CONF_AUX */
        
              //#define LCD_CONF_AUX
        
            /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
        
              //#define SUPPRESS_LCD_CONF_AUX34
        
          /**************************************************************************************/
        
          /***********************      LCD       telemetry            **************************/
        
          /**************************************************************************************/
        
            /* to monitor system values (battery level, loop time etc. with LCD
        
             * ;*/
        
            /********************************    激活     ***********************************/
        
            //#define LCD_TELEMETRY
        
            /* to enable automatic hopping between a choice of telemetry pages uncomment this. */
        
            //#define LCD_TELEMETRY_AUTO "123452679" // pages 1 to 9 in ascending order
        
            //#define LCD_TELEMETRY_AUTO  "212232425262729" // strong emphasis on page 2
        
            /* manual stepping sequence; first page of the sequence gets loaded at startup to allow non-interactive display */
        
            //#define LCD_TELEMETRY_STEP "0123456789" // should contain a 0 to allow switching off.
        
            /* optional exclude some functionality - uncomment to suppress some unwanted telemetry pages */
        
            //#define SUPPRESS_TELEMETRY_PAGE_1
        
            //#define SUPPRESS_TELEMETRY_PAGE_2
        
            //#define SUPPRESS_TELEMETRY_PAGE_3
        
            //#define SUPPRESS_TELEMETRY_PAGE_4
        
            //#define SUPPRESS_TELEMETRY_PAGE_5
        
            //#define SUPPRESS_TELEMETRY_PAGE_6
        
            //#define SUPPRESS_TELEMETRY_PAGE_7
        
            //#define SUPPRESS_TELEMETRY_PAGE_8
        
            //#define SUPPRESS_TELEMETRY_PAGE_9
        
          /********************************************************************/
        
          /****                             RSSI                           ****/
        
          /********************************************************************/
        
            //#define RX_RSSI
        
            //#define RX_RSSI_PIN A3
        
          /********************************************************************/
        
          /****                             蜂鳴器                         ****/
        
          /********************************************************************/
        
            //#define BUZZER
        
            //#define RCOPTIONSBEEP         // uncomment this if you want the buzzer to beep at any rcOptions change on channel Aux1 to Aux4
        
            //#define ARMEDTIMEWARNING 330  // (*) Trigger an alarm after a certain time of being armed [s] to save you lipo (if your TX does not have a countdown)
        
            //#define PILOTLAMP             //Uncomment if you are using a X-Arcraft Pilot Lamp
        
          /********************************************************************/
        
          /****                   電池電壓檢測                             ****/
        
          /********************************************************************/
        
            /* for V BAT monitoring
        
               after the resistor divisor we should get [0V;5V]->[0;1023] on analog V_BATPIN
        
               with R1=33k and R2=51k
        
               vbat = [0;1023]*16/VBATSCALE
        
               must be associated with #define BUZZER ! */
        
            //#define VBAT              // 要啟用電壓報警,請先接好電源檢測線
        
            #define VBATSCALE       131 // (*) change this value if readed Battery voltage is different than real voltage
        
            #define VBATNOMINAL     126 // 12,6V full battery nominal voltage - only used for lcd.telemetry
        
            #define VBATLEVEL_WARN1 107 // (*) 10,7V
        
            #define VBATLEVEL_WARN2  99 // (*) 9.9V
        
            #define VBATLEVEL_CRIT   93 // (*) 9.3V - critical condition: if vbat ever goes below this value, permanent alarm is triggered
        
            #define NO_VBAT          16  // (*) Avoid beeping without any battery
        
          /********************************************************************/
        
          /****           電源檢測 (電池容量監測)         ****/
        
          /********************************************************************/
        
            /* enable monitoring of the power consumption from battery (think of mAh)
        
               allows to set alarm value in GUI or via LCD
        
              Full description and howto here
        
               Two options:
        
               1 - hard: - (uses hardware sensor, after configuration gives very good results)
        
               2 - soft: - (good results +-5% for plush and mystery ESCs @ 2S and 3S, not good with SuperSimple ESC)    */
        
            //#define POWERMETER_SOFT
        
            //#define POWERMETER_HARD
        
            /* PLEVELSCALE is the step size you can use to set alarm */
        
            #define PLEVELSCALE 50 // if you change this value for other granularity, you must search for comments in code to change accordingly
        
            /* larger PLEVELDIV will get you smaller value for power (mAh equivalent) */
        
            #define PLEVELDIV 5000 // (*) default for soft - if you lower PLEVELDIV, beware of overrun in uint32 pMeter
        
            #define PLEVELDIVSOFT PLEVELDIV // for soft always equal to PLEVELDIV; for hard set to 5000
        
            #define PSENSORNULL 510 // (*) set to analogRead() value for zero current; for I=0A my sensor gives 1/2 Vss; that is approx 2.49Volt;
        
            #define PINT2mA 13 // (*) for telemtry display: one integer step on arduino analog translates to mA (example 4.9 / 37 * 100
        
          /********************************************************************/
        
          /****           高度保持                                    ****/
        
          /********************************************************************/
        
            /* 如果您取消注釋,表示關閉高度保持的功能.
        
             * This is useful if all of the following apply
        
             * + you have a baro
        
             * + want altitude readout
        
             * + do not use altitude hold feature
        
             * + want to save memory space
        
             */
        
            //#define SUPPRESS_BARO_ALTHOLD
        
          /* Natural alt change for rapid pilots. It's temporary switch OFF the althold when throttle stick is out of deadband defined with ALT_HOLD_THROTTLE_NEUTRAL_ZONE
        
           * but if it's commented: Smooth alt change routine is activated, for slow auto and aerophoto modes (in general solution from alexmos). It's slowly increase/decrease
        
           * altitude proportional to stick movement (+/-100 throttle gives about +/-50 cm in 1 second with cycle time about 3-4ms)
        
           */
        
          #define ALTHOLD_FAST_THROTTLE_CHANGE //高度平滑模式
        
          /********************************************************************/
        
          /****           高度測量                              ****/
        
          /********************************************************************/
        
            /* enable to get audio feedback upon rising/falling copter/plane.
        
             * Requires a working baro.
        
             * For now, Output gets sent to an enabled vt100 terminal program over the serial line.
        
             * choice of two methods (enable either one or both)
        
             * method 1 : use short term movement from baro ( bigger code size)
        
             * method 2 : use long term observation of altitude from baro (smaller code size)
        
             */
        
            //#define VARIOMETER 12            // possible values: 12 = methods 1 & 2 ; 1 = method 1 ; 2 = method 2
        
            //#define SUPPRESS_VARIOMETER_UP   // if no signaling for up movement is desired
        
            //#define SUPPRESS_VARIOMETER_DOWN // if no signaling for down movement is desired
        
            //#define VARIOMETER_SINGLE_TONE   // use only one tone (BEL); neccessary for non-patched vt100 terminals
        
          /********************************************************************/
        
          /****           自定義固件版本                                     ****/
        
          /********************************************************************/
        
            /*設置時注意格式。
        
             * this name is displayed together with the MultiWii version number
        
             * upon powerup on the LCD.
        
             * If you are without a DISPLAYD then You may enable LCD_TTY and
        
             * use arduino IDE's serial monitor to view the info.
        
             *
        
             * You must preserve the format of this string!
        
             * It must be 16 characters total,
        
             * The last 4 characters will be overwritten with the version number.
        
             */
        
            #define BOARD_NAME "MultiWii   V-.--" //----------
        
            //                  123456789.123456
        
          /*************      支持多配置文件保存在EEPROM     ************/
        
            //#define MULTIPLE_CONFIGURATION_PROFILES //----------
        
        /*************************************************************************************************/
        
        /*****************                                                                 ***************/
        
        /****************  SECTION  7 - 開發者高級設定                                  **************/
        
        /*****************                                                                 ***************/
        
        /*************************************************************************************************/
        
          /************ Experimental: force a stable, fixated (high) cycle time       **********/
        
            /* when activated, the displayed cycle time in GUI will not be correct.
        
             * Tunable via LCD config menu.
        
             * value of 0 turns the feature off.
        
             */
        
            //#define CYCLETIME_FIXATED 9000 // (*)
        
          /**************************************************************************************/
        
          /********   special ESC with extended range [0-2000] microseconds  ********************/
        
          /**************************************************************************************/
        
            //#define EXT_MOTOR_RANGE
        
          /**************************************************************************************/
        
          /***********************     電機、舵機和其他預設值     ***********************/
        
          /**************************************************************************************/
        
            /* 下列語句是關于解鎖后,油門保持最低時油門停轉
        
               如果不啟用此項,解鎖后電機會開始轉起來(也就是怠速功能),請根據需要來調整。我建議啟用這一項,也就是關掉怠速。 */
        
            //#define MOTOR_STOP //----------
        
            /* 個別遙控發射的信號中心點不在1500. 可在此更改 */
        
            #define MIDRC 1500
        
          /***********************         伺服刷新率            ***********************/
        
            /* 默認50Hz的伺服刷新率*/
        
            #define SERVO_RFR_50HZ
        
            /* up to 160Hz servo refreshrate .. works with the most analog servos*/
        
            //#define SERVO_RFR_160HZ
        
            /* up to 300Hz refreshrate it is as fast as possible (100-300Hz depending on the cound of used servos and the servos state).
        
               for use with digital servos
        
               dont use it with analog servos! thay may get damage. (some will work but be careful) */
        
            //#define SERVO_RFR_300HZ
        
           
        
          /***********************             HW PWM Servos             ***********************/
        
            /* HW PWM Servo outputs for Arduino Mega.. moves:
        
              Pitch   = pin 44
        
              Roll    = pin 45
        
              CamTrig = pin 46
        
              SERVO4  = pin 11 (assigned to PPM or SPECTRUM CH9 on copter configuration)
        
              SERVO5  = pin 12 (assigned to PPM or SPECTRUM CH10 on copter configuration)
        
              this option disable other software PWM's for servos - only five hardware controlled servos avaliable
        
              */
        
            //#define MEGA_HW_PWM_SERVOS
        
          /********************************************************************/
        
          /****           串行命令處理 - MSP和其它          ****/
        
          /********************************************************************/
        
            /* to reduce memory footprint, it is possible to suppress handling of serial commands.
        
             * This does _not_ affect handling of RXserial, Spektrum or GPS. Those will not be affected and still work the same.
        
             * Enable either one or both of the following options  */
        
            /* Remove handling of all commands of the New MultiWii Serial Protocol.
        
             * This will disable use of the GUI, winGUI, android apps and any other program that makes use of the MSP.
        
             * You must find another way (like LCD_CONF) to tune the parameters or live with the defaults.
        
             * If you run a LCD/OLED via i2c or serial/Bluetooth, this is safe to use */
        
            //#define SUPPRESS_ALL_SERIAL_MSP // saves approx 2700 bytes
        
            /* Remove handling of other serial commands.
        
             * This includes navigating via serial the lcd.configuration menu, lcd.telemetry and permanent.log .
        
             * Navigating via stick inputs on tx is not affected and will work the same.  */
        
            //#define SUPPRESS_OTHER_SERIAL_COMMANDS // saves  approx 0 to 100 bytes, depending on features enabled
        
          /********************************************************************/
        
          /****           diagnostics                                      ****/
        
          /********************************************************************/
        
            /* to log values like max loop time and others to come
        
               logging values are visible via LCD config
        
               set to 1, enable 'R' option to reset values, max current, max altitude
        
               set to 2, adds min/max cycleTimes
        
               set to 3, adds additional powerconsumption on a per motor basis (this uses the big array and is a memory hog, if POWERMETER <> PM_SOFT) */
        
            //#define LOG_VALUES 1
        
            /* Permanent logging to eeprom - survives (most) upgrades and parameter resets.
        
             * used to track number of flights etc. over lifetime of controller board.
        
             * Writes to end of eeprom - should not conflict with stored parameters yet.
        
             * Logged values: accumulated lifetime, #powercycle/reset/initialize events, #arm events, #disarm events, last armedTime,
        
             *                #failsafe@disarm, #i2c_errs@disarm
        
             * To activate set to size of eeprom for your mcu: promini 328p: 1023 ; 2560: 4095.
        
             * Enable one or more options to show the log
        
             */
        
            //#define LOG_PERMANENT 1023
        
            //#define LOG_PERMANENT_SHOW_AT_STARTUP // enable to display log at startup
        
            //#define LOG_PERMANENT_SHOW_AT_L // enable to display log when receiving 'L'
        
            //#define LOG_PERMANENT_SHOW_AFTER_CONFIG // enable to display log after exiting LCD config menu
        
            //#define LOG_PERMANENT_SERVICE_LIFETIME 36000 // in seconds; service alert at startup after 10 hours of armed time
        
            /* to add debugging code
        
               not needed and not recommended for normal operation
        
               will add extra code that may slow down the main loop or make copter non-flyable */
        
            //#define DEBUG
        
            /* Use this to trigger LCD configuration without a TX - only for debugging - do NOT fly with this activated */
        
            //#define LCD_CONF_DEBUG
        
            /* Use this to trigger telemetry without a TX - only for debugging - do NOT fly with this activated */
        
            //#define LCD_TELEMETRY_DEBUG    //This form rolls between all screens, LCD_TELEMETRY_AUTO must also be defined.
        
            //#define LCD_TELEMETRY_DEBUG 6  //This form stays on the screen specified.
        
            /* Enable string transmissions from copter to GUI */
        
            //#define DEBUGMSG
        
          /********************************************************************/
        
          /****           ESCs calibration                                 ****/
        
          /********************************************************************/
        
            /* to calibrate all ESCs connected to MWii at the same time (useful to avoid unplugging/re-plugging each ESC)
        
               Warning: this creates a special version of MultiWii Code
        
               You cannot fly with this special version. It is only to be used for calibrating ESCs
        
               Read How To at http://code.google.com/p/multiwii/wiki/ESCsCalibration ;*/
        
            #define ESC_CALIB_LOW  MINCOMMAND
        
            #define ESC_CALIB_HIGH 2000
        
            //#define ESC_CALIB_CANNOT_FLY  // uncomment to activate
        
          /****           internal frequencies                             ****/
        
            /* frequenies for rare cyclic actions in the main loop, depend on cycle time
        
               time base is main loop cycle time - a value of 6 means to trigger the action every 6th run through the main loop
        
               example: with cycle time of approx 3ms, do action every 6*3ms=18ms
        
               value must be [1; 65535] */
        
            #define LCD_TELEMETRY_FREQ 23       // to send telemetry data over serial 23 <=> 60ms <=> 16Hz (only sending interlaced, so 8Hz update rate)
        
            #define LCD_TELEMETRY_AUTO_FREQ 967 // to step to next telemetry page 967 <=> 3s
        
            #define PSENSORFREQ 6               // to read hardware powermeter sensor 6 <=> 18ms
        
            #define VBATFREQ PSENSORFREQ        // to read battery voltage - keep equal to PSENSORFREQ unless you know what you are doing
        
          /********************************************************************/
        
          /****           Regression testing                               ****/
        
          /********************************************************************/
        
            /* for development only:
        
               to allow for easier and reproducable config sets for test compiling, different sets of config parameters are kept
        
               together. This is meant to help detecting compile time errors for various features in a coordinated way.
        
               It is not meant to produce your flying firmware
        
               To use:
        
               - do not set any options in config.h,
        
               - enable with #define COPTERTEST 1, then compile
        
               - if possible, check for the size
        
               - repeat with other values of 2, 3, 4 etc.
        
                */
        
            //#define COPTERTEST 1
        
        /*************************************************************************************************/
        
        /****           參數配置結束                                               ****/
        
        /*************************************************************************************************/
        
        
        
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